I got a contribution from @saljam at boot2docker-xhyve on GitHub as below.
Running boot2docker xhyve on boot · ailispaw/boot2docker-xhyve Wiki
It allows us to launch boot2docker-xhyve on booting Mac OS X.
In addition, I found LaunchControl that enables us to manage lanuchd and edit its configuration files with GUI.
And also it has a menu bar item which we can control launchd daemons/services from.